source: trunk/MagicSoft/Cosy/candrv/vmodican.h@ 3210

#ifndef VMODICAN_H
#define VMODICAN_H

#include <pthread.h>

#include <unistd.h>          // gettimeofday

#include "log.h"

#ifdef __CINT__
//#include <TROOT.h>
typedef UShort_t WORD_t;
typedef Byte_t   BYTE_t;
#else
#include "gendef.h"
#endif

#include "MThread.h"

class Message;
class FastMessage;

typedef struct timeval timeval_t;

class VmodIcan : public Log, protected MThread
{
    friend class VmodIcanRX;

private:
    int fd; // file descriptor for can module

    int Ioctl(int msg, void *arg);

    void *Thread();

    void HandleMessage(Message *msg, timeval_t *tv);
    virtual void HandleCanMessage(WORD_t cobid, BYTE_t *data, timeval_t *tv) {}

    int Receive(Message *pm);
    int ReceiveFast(FastMessage *pm);

    void SetBaudRate(int rate);
    void EnableCanBusConnection();
    int  EnableFastCan(int rbuffers, int wbuffers);
    void DisableCanBusConnection();
    int  EnableFifo();
    int  Reset();
    void SetTermination(int strate=1);
    int  StdHost2NewStyle(int rbuffers, int wbuffers, int wbuffers_hi, int wbuffers_low);
    void DisableAllCobIds();

    void PrintMsg(Message *m);

    int Send(Message *pm);
    int SendHi(Message   *pm);
    int SendLo(Message   *pm);
    int Send(FastMessage *pm);

    void Close();
    int Open(const char *devname);          /* pathname of device */

    WORD_t MsgDescr(const WORD_t cobid, const BYTE_t dlc, const BYTE_t rtr=0)
    {
        return (cobid<<5) | ((rtr&0x1)<<4) | (dlc&0xf);
    }

    virtual void TerminateApp() { exit(-1); }

public:
    VmodIcan(const char *dev, const int baud, MLog &out=gLog);
    virtual ~VmodIcan();

    void EnableCobId(WORD_t cobid, int flag=TRUE);

    void SendCanFrame(WORD_t cobid, BYTE_t m[8], BYTE_t rtr=0);
    void SendCanFrame(WORD_t cobid,
                      BYTE_t m0=0, BYTE_t m1=0, BYTE_t m2=0, BYTE_t m3=0,
                      BYTE_t m4=0, BYTE_t m5=0, BYTE_t m6=0, BYTE_t m7=0);

    ClassDef(VmodIcan, 0) // hardware interface to the vmodican can module (Janz)
};

#endif